Single channel wireless switch / pedal backpack

lib/BUTTON/button.h

@@ -30,6 +30,8 @@ class Button
     // Properties
     uint8_t getCount() const { return _pressCount; }
     uint8_t getLongCount() const { return _longCount; }
+    bool isPressed() const { return _state == STATE_HELD; }
+    bool isIdle() const { return _state == STATE_IDLE; }
 
     Button() :
         _lastCheck(0), _lastFallingEdge(0), _state(STATE_IDLE),

platformio.ini

@@ -12,6 +12,7 @@ extra_configs =
 	targets/fusion.ini
 	targets/hdzero.ini
 	targets/orqa.ini
+	targets/pedal.ini
 	targets/rapidfire.ini
 	targets/rx5808.ini
 	targets/skyzone.ini

src/Vrx_main.cpp

@@ -23,7 +23,9 @@
 #include "devWIFI.h"
 #include "devButton.h"
 #include "devLED.h"
+#if defined(HAS_HEADTRACKING)
 #include "devHeadTracker.h"
+#endif
 
 #ifdef RAPIDFIRE_BACKPACK
   #include "rapidfire.h"
@@ -43,6 +45,8 @@
   #include "module_aat.h"
 #elif defined(CROSSBOW_BACKPACK)
   #include "mfd_crossbow.h"
+#elif defined(PEDAL_BACKPACK)
+  #include "module_pedal.h"
 #endif
 
 /////////// DEFINES ///////////
@@ -124,6 +128,8 @@ VrxBackpackConfig config;
   AatModule vrxModule(Serial);
 #elif defined(CROSSBOW_BACKPACK)
   MFDCrossbow vrxModule(&Serial);
+#elif defined(PEDAL_BACKPACK)
+  PedalModule vrxModule;
 #endif
 
 /////////// FUNCTION DEFS ///////////
@@ -341,7 +347,7 @@ void SetSoftMACAddress()
 
 void RequestVTXPacket()
 {
-#if !defined(AAT_BACKPACK) and !defined(CROSSBOW_BACKPACK)
+#if !defined(AAT_BACKPACK) && !defined(CROSSBOW_BACKPACK) && !defined(PEDAL_BACKPACK)
   mspPacket_t packet;
   packet.reset();
   packet.makeCommand();

src/module_pedal.cpp

@@ -0,0 +1,123 @@
+#if defined(PEDAL_BACKPACK)
+
+#include "module_pedal.h"
+#include "common.h"
+#include "msptypes.h"
+#if defined(PIN_LED)
+  #include "devLED.h"
+#endif
+
+void sendMSPViaEspnow(mspPacket_t *packet);
+bool BindingExpired(uint32_t now);
+
+PedalModule::PedalModule()
+ :  _lastTxValue(false), _lastNow(0), _lastTxMs(0), _lastPedalChangeMs(0)
+{
+    _btnBind.OnLongPress = std::bind(&PedalModule::button_OnLongPress, this);
+}
+
+PedalModule::~PedalModule()
+{
+    detachInterrupt(PIN_BUTTON_PEDAL);
+}
+
+void PedalModule::Init()
+{
+    _pedalSemaphore = xSemaphoreCreateBinary();
+    attachInterruptArg(PIN_BUTTON_PEDAL, &PedalModule::button_interrupt, this, CHANGE);
+}
+
+void PedalModule::Loop(uint32_t now)
+{
+    // Need to store what the main loop thinks is "now" in case the button
+    // event is going to use it to set the bindstart time, otherwise millis()
+    // could be in the future (compared to now) and timeout immediately
+    _lastNow = now;
+    if (BindingExpired(_lastNow))
+    {
+        connectionState = running;
+    }
+
+    // Pause here to lower power usage (C3 drops from 100mA to 90mA)
+    // If button is currently transitioning or pressed just consume the semaphore, else delay until an interrupt
+    xSemaphoreTake(_pedalSemaphore, _btnPedal.isIdle() ? pdMS_TO_TICKS(20) : 0);
+    _btnPedal.update();
+    _btnBind.update();
+
+    // Don't TX if binding/wifi
+    if (connectionState != running)
+        return;
+    // Don't TX on startup
+    if (_lastTxMs == 0 && _lastNow < STARTUP_MS)
+        return;
+
+    checkSendPedalPos();
+}
+
+void PedalModule::checkSendPedalPos()
+{
+    bool pedalPressed = _btnPedal.isPressed();
+    bool pedalChanged = pedalPressed != _lastTxValue;
+
+    if (pedalChanged)
+    {
+        _lastPedalChangeMs = _lastNow;
+    }
+
+    // Send the pedal position frequently after last change, until it is unchanged for one UNCHANGED_MS interval
+    uint32_t txIntervalMs = (_lastNow - _lastPedalChangeMs < PEDAL_INTERVAL_UNCHANGED_MS) ? PEDAL_INTERVAL_CHANGED_MS : PEDAL_INTERVAL_UNCHANGED_MS;
+    if (pedalChanged || _lastNow - _lastTxMs > txIntervalMs)
+    {
+        _lastTxMs = _lastNow;
+        _lastTxValue = pedalPressed;
+        DBGLN("%u pedal %u", _lastNow, pedalPressed);
+
+        // Pedal is 1000us if not pressed, 2000us if pressed
+        uint16_t pedalState = pedalPressed ? CRSF_CHANNEL_VALUE_2000 : CRSF_CHANNEL_VALUE_1000;
+        mspPacket_t packet;
+        packet.reset();
+        packet.makeCommand();
+        packet.function = MSP_ELRS_BACKPACK_SET_PTR;
+        packet.addByte(pedalState & 0xFF); // CH0
+        packet.addByte(pedalState >> 8);
+        // ExpressLRS 4.0 supports only sending as many channels as needed, but for 3.x compatibility
+        // 6 total payload bytes are required. A channel value of 0xffff means "do not update" in 4.0
+        packet.addByte(0xff); // CH1
+        packet.addByte(0xff);
+        packet.addByte(0xff); // CH2
+        packet.addByte(0xff);
+        sendMSPViaEspnow(&packet);
+        yield();
+
+#if defined(PIN_LED)
+        // Flash the LED to indicate the high-speed pedal update mode
+        if (pedalPressed)
+            blinkLED();
+#endif
+    }
+}
+
+void IRAM_ATTR PedalModule::button_interrupt(void *instance)
+{
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xSemaphoreGiveFromISR(((PedalModule *)instance)->_pedalSemaphore, &xHigherPriorityTaskWoken);
+    if (xHigherPriorityTaskWoken)
+        portYIELD_FROM_ISR();
+}
+
+void PedalModule::button_OnLongPress()
+{
+    // Long press of the bind button for 5s takes the pedal into binding mode
+    if (_btnBind.getLongCount() >= 10 && connectionState == running)
+    {
+        bindingStart = _lastNow;
+        connectionState = binding;
+    }
+    // Long press of bind button for 10s goes from binding to wifi
+    else if (_btnBind.getLongCount() >= 20 && connectionState == binding)
+    {
+        connectionState = wifiUpdate;
+    }
+}
+
+#endif /* PEDAL_BACKPACK */

src/module_pedal.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#if defined(PEDAL_BACKPACK)
+#include "module_base.h"
+#include "logging.h"
+#include "button.h"
+
+// For wake
+#include "freertos/FreeRTOS.h"
+#include "freertos/semphr.h"
+
+class PedalModule : public ModuleBase
+{
+public:
+    PedalModule();
+    ~PedalModule();
+
+    void Init();
+    void Loop(uint32_t now);
+private:
+    static void button_interrupt(void *instance);
+
+    // Don't send updates on for a short time after bootup
+    static constexpr uint32_t STARTUP_MS = 2000U;
+    // Transmit interval differs based on how recently the pedal changed position
+    static constexpr uint32_t PEDAL_INTERVAL_UNCHANGED_MS = 750U;
+    static constexpr uint32_t PEDAL_INTERVAL_CHANGED_MS = 100U;
+
+    void button_OnLongPress();
+    void checkSendPedalPos();
+
+    Button<PIN_BUTTON_PEDAL, false> _btnPedal;
+    Button<PIN_BUTTON_BIND, false> _btnBind;
+    SemaphoreHandle_t _pedalSemaphore;
+    bool _lastTxValue;
+    uint32_t _lastNow;
+    uint32_t _lastTxMs;
+    uint32_t _lastPedalChangeMs;
+};
+
+#endif /* PEDAL_BACKPACK */

targets/aat.ini

@@ -21,7 +21,7 @@ build_flags =
 lib_deps =
     ${env.lib_deps}
     adafruit/Adafruit SSD1306 @ 2.5.9
-build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<steadyview.*> -<Timer_main.cpp> -<mfd_crossbow.*>
+build_src_filter = ${common_env_data.build_src_filter} -<Tx_main.cpp> -<rapidfire.*> -<rx5808.*> -<steadyview.*> -<hdzero.*> -<skyzone_msp.*> -<orqa.*> -<Timer_main.cpp> -<mfd_crossbow.*>
 
 [env:AAT_ESP_Backpack_via_WIFI]
 extends = env:AAT_ESP_Backpack_via_UART

targets/common.ini

@@ -10,7 +10,6 @@ lib_deps =
 	ottowinter/ESPAsyncWebServer-esphome @ 3.2.2
 	esphome/AsyncTCP-esphome @ 2.1.3 # use specific version - an update to this library breaks the build
 	bblanchon/ArduinoJson @ 7.1.0
-monitor_filters = esp8266_exception_decoder
 
 
 [common_env_data]
@@ -26,6 +25,7 @@ board_build.ldscript = eagle.flash.1m.ld
 upload_speed = 460800
 monitor_speed = 460800
 board_build.f_cpu = 160000000L
+monitor_filters = esp8266_exception_decoder
 build_flags =
 	-D PLATFORM_ESP8266=1
 
@@ -36,6 +36,7 @@ board_build.ldscript = eagle.flash.1m.ld
 upload_speed = 921600
 monitor_speed = 460800
 board_build.f_cpu = 160000000L
+monitor_filters = esp8266_exception_decoder
 build_flags =
 	-D PLATFORM_ESP8266=1
 
@@ -90,7 +91,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -110,7 +111,7 @@ build_src_filter =
 	; -<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -130,7 +131,7 @@ build_src_filter =
 	-<rapidfire.*>
 	; -<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -150,7 +151,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	; -<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -170,7 +171,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	; -<fusion.*>
+	; -<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -190,7 +191,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	; -<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -210,7 +211,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	; -<skyzone_msp.*>
 	-<orqa.*>
@@ -230,7 +231,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	; -<orqa.*>
@@ -249,7 +250,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>
@@ -269,7 +270,7 @@ build_src_filter =
 	-<rapidfire.*>
 	-<rx5808.*>
 	-<steadyview.*>
-	-<fusion.*>
+	-<tbs_fusion.*>
 	-<hdzero.*>
 	-<skyzone_msp.*>
 	-<orqa.*>